### 四轴机械臂点位
## 1开头--2待取料--3取料--4抬高--5待放--6放料--7货叉出仓--8抬高
P1=[0.0,10.45,62.05,0.0,0.0,0.0,146.011,0.0,143.008,0.0,0.0,0.0,0.0]
P2=[84.625,63.25,106.6,18.84,0.0,0.0,13.116,139.405,57.849,0.0,0.0,103.465,0.0]
P3=[88.1,65.475,76.725,15.363,0.0,0.0,7.112,214.399,50.854,0.0,0.0,103.463,0.0]
P4=[88.1,45.35,64.65,15.363,0.0,0.0,7.113,214.42,100.869,0.0,0.0,103.463,0.0]
P5=[0.0,0.0,0.0,0.0,0.0,0.0,198.67,0.0,230.72,0.0,0.0,0.0,0.0]
P6=[-31.525,71.925,73.425,135.338,0.0,0.0,194.375,-119.23,38.254,0.0,0.0,103.813,0.0]
P7=[-47.25,79.0,57.025,131.042,0.0,0.0,182.344,-197.258,38.266,0.0,0.0,83.792,0.0]
P8=[-47.25,52.675,43.075,131.042,0.0,0.0,182.322,-197.234,118.273,0.0,0.0,83.792,0.0]

### 六轴机械臂点位
## 1号仓位待取--取料--待放料--放料
P9=[-62.271,10.143,-6.031,0.0,-4.102,7.295,101.75,-193.571,216.864,0.0,0.0,-54.976,0.0]
P10=[-62.271,11.746,6.047,0.0,-17.784,7.295,101.749,-193.568,175.866,0.0,0.0,-54.976,0.0]
P11=[-24.9,20.444,-0.484,2.047,-21.454,18.113,212.325,-97.667,165.055,1.369,-2.007,-7.534,0.0]
P12=[-24.9,31.149,5.5,2.422,-38.147,18.863,212.327,-97.668,110.35,1.363,-2.021,-7.532,0.0]

## 过渡点
P13=[-29.175,0.0,0.0,0.0,0.0,0.0,173.466,-96.846,230.72,0.0,0.0,-29.175,0.0]

## 2号仓位 待取--取料--待放料--放料
P14=[-72.275,10.139,-6.031,0.0,-4.102,7.295,66.575,-208.297,216.879,0.0,0.0,-64.98,0.0]
P15=[-74.259,15.922,0.969,0.0,-16.897,9.273,61.536,-218.314,176.619,0.0,0.0,-64.986,0.0]
P16=[-32.502,31.149,-12.391,2.484,-19.443,39.772,213.306,-134.724,159.768,1.382,-2.018,6.433,0.0]
P17=[-32.876,38.513,-5.453,2.828,-33.738,40.885,210.312,-134.748,111.83,1.37,-2.039,6.428,0.0]

## 3号仓位 待取--取料--待放料--放料
P18=[-86.378,13.401,-9.438,0.0,-3.966,7.386,14.194,-224.231,216.051,0.0,0.0,-78.992,0.0]
P19=[-86.378,14.855,2.406,0.0,-17.272,7.386,14.195,-224.238,176.07,0.0,0.0,-78.992,0.0]
P20=[-30.695,-15.728,34.516,2.313,-19.92,40.317,144.346,-84.618,171.212,0.947,-2.269,8.837,0.0]
P21=[-29.086,16.088,23.906,2.844,-41.17,39.772,177.352,-97.62,113.229,0.946,-2.269,8.816,0.0]

## 4号仓位 待取--取料--待放料--放料
P22=[-98.167,10.257,-11.156,0.0,0.898,7.318,-30.906,-215.361,231.643,0.0,0.0,-90.849,0.0]
P23=[-98.167,11.087,6.531,0.0,-17.613,7.318,-30.906,-215.357,176.62,0.0,0.0,-90.849,0.0]
P24=[-40.368,14.543,8.531,2.641,-22.784,62.862,168.281,-141.705,159.455,1.386,-2.019,21.44,0.0]
P25=[-37.68,25.577,11.406,3.047,-36.795,60.999,177.334,-135.655,114.479,1.379,-2.018,21.465,0.0]

### 回仓1号待取点--取料--待放料--放料
P26=[23.379,13.682,-14.625,0.0,0.943,0.636,205.484,88.833,230.433,0.0,0.0,24.016,0.0]
P27=[25.407,28.493,13.094,0.0,-41.59,-1.409,199.515,94.765,100.437,0.0,0.0,23.997,0.0]
P28=[-63.439,-22.504,33.297,0.047,-11.591,35.363,70.858,-141.699,190.501,-0.424,-0.677,-28.083,0.0]
P29=[-64.695,-0.097,33.297,0.078,-33.988,40.658,77.898,-164.696,134.93,-0.464,-0.64,-24.078,0.0]

### 回仓2号待取点--取料--待放料--放料
P30=[15.27,0.975,-0.781,0.0,-0.182,8.75,193.488,52.825,230.133,0.0,0.0,24.02,0.0]
P31=[17.981,23.079,19.625,0.0,-42.704,6.023,199.523,64.755,102.17,0.0,0.0,24.003,0.0]
P32=[-82.389,-19.329,30.938,0.063,-12.409,36.317,21.723,-162.384,190.223,-0.425,-0.681,-46.083,0.0]
P33=[-77.233,3.306,29.547,-0.016,-33.658,25.159,41.774,-184.391,135.674,-0.354,-0.723,-52.064,0.0]

### 回仓3号待取点--取料--待放料--放料
P34=[30.386,-12.94,18.281,0.0,-5.341,-6.363,151.49,88.831,212.161,0.0,0.0,24.023,0.0]
P35=[30.122,13.801,31.25,0.0,-45.044,-6.091,163.465,94.841,102.139,0.0,0.0,24.031,0.0]
P36=[-92.46,-28.471,37.813,0.203,-10.125,18.409,-6.289,-148.389,189.967,0.0,-0.806,-74.085,0.0]
P37=[-91.975,1.98,31.672,0.297,-34.408,12.068,-6.288,-185.381,133.666,0.084,-0.791,-80.074,0.0]

### 回仓4号待取点--取料--待放料--放料
P38=[17.871,-21.994,25.703,0.0,-3.716,6.159,151.486,48.843,211.887,0.0,0.0,24.029,0.0]
P39=[20.559,10.367,36.688,0.0,-47.056,3.454,167.499,62.821,98.889,0.0,0.0,24.013,0.0]
P40=[-105.548,-26.991,36.859,0.422,-10.557,3.545,-40.273,-145.399,189.702,0.372,-0.712,-102.08,0.0]
P41=[-104.777,-4.848,37.344,0.484,-33.192,-3.023,-44.247,-168.411,136.421,0.445,-0.673,-108.065,0.0]
